Real-time Replanning Using 3D Environment for Humanoid Robot

Léo Baudouin; Nicolas Perrin; Thomas Moulard; Florent Lamiraux; Olivier Stasse; Eiichi Yoshida

Real-time Replanning Using 3D Environment for Humanoid Robot

Léo Baudouin ^{1, *} Nicolas Perrin ¹ Thomas Moulard ¹ Florent Lamiraux ¹ Olivier Stasse ² Eiichi Yoshida ²

* Auteur correspondant

1 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes

LAAS - Laboratoire d'analyse et d'architecture des systèmes [Toulouse]

2 CNRS-AIST JRL - Joint Robotics Laboratory [France]

Abstract : In this paper, we illustrate experimentally an origi- nal real-time replanning scheme and architecture for humanoid robot reactive walking. Based on a dense set of actions, our approach uses a large panel of the humanoid robot capabilities and is particularly well suited for 3D collision avoidance. Indeed A-* approaches becomes difficult in such situation, thus the method demonstrated here relies on RRT. Combined with an approximation of the volume swept by the robot legs while walking, our method is able to cope with 3D obstacles while maintaining real-time computation. We experimentally validate our approach on the robot HRP-2.

Keywords : replanning obstacle avoidance HRP-2 humanoid robots motion planning

Type de document :

Communication dans un congrès

IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2011), Oct 2011, Bled, Slovenia. p.584-589, 2011

Domaine :

Informatique [cs] / Robotique [cs.RO]

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https://hal.archives-ouvertes.fr/hal-00601300
Contributeur : Thomas Moulard <>
Soumis le : vendredi 17 juin 2011 - 16:55:11
Dernière modification le : vendredi 26 octobre 2018 - 10:42:18
Document(s) archivé(s) le : dimanche 18 septembre 2011 - 02:26:35

Real-time Replanning Using 3D Environment for Humanoid Robot

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Real-time Replanning Using 3D Environment for Humanoid Robot

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